<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.8.11"/>
<title>Cheetah Software: rt_vectornav.cpp Source File</title>
<link href="../../tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="../../jquery.js"></script>
<script type="text/javascript" src="../../dynsections.js"></script>
<link href="../../navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="../../resize.js"></script>
<script type="text/javascript" src="../../navtreedata.js"></script>
<script type="text/javascript" src="../../navtree.js"></script>
<script type="text/javascript">
  $(document).ready(initResizable);
  $(window).load(resizeHeight);
</script>
<link href="../../search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="../../search/searchdata.js"></script>
<script type="text/javascript" src="../../search/search.js"></script>
<script type="text/javascript">
  $(document).ready(function() { init_search(); });
</script>
<link href="../../doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">Cheetah Software
   &#160;<span id="projectnumber">1.0</span>
   </div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- Generated by Doxygen 1.8.11 -->
<script type="text/javascript">
var searchBox = new SearchBox("searchBox", "../../search",false,'Search');
</script>
  <div id="navrow1" class="tabs">
    <ul class="tablist">
      <li><a href="../../index.html"><span>Main&#160;Page</span></a></li>
      <li><a href="../../namespaces.html"><span>Namespaces</span></a></li>
      <li><a href="../../annotated.html"><span>Classes</span></a></li>
      <li class="current"><a href="../../files.html"><span>Files</span></a></li>
      <li>
        <div id="MSearchBox" class="MSearchBoxInactive">
        <span class="left">
          <img id="MSearchSelect" src="../../search/mag_sel.png"
               onmouseover="return searchBox.OnSearchSelectShow()"
               onmouseout="return searchBox.OnSearchSelectHide()"
               alt=""/>
          <input type="text" id="MSearchField" value="Search" accesskey="S"
               onfocus="searchBox.OnSearchFieldFocus(true)" 
               onblur="searchBox.OnSearchFieldFocus(false)" 
               onkeyup="searchBox.OnSearchFieldChange(event)"/>
          </span><span class="right">
            <a id="MSearchClose" href="javascript:searchBox.CloseResultsWindow()"><img id="MSearchCloseImg" border="0" src="../../search/close.png" alt=""/></a>
          </span>
        </div>
      </li>
    </ul>
  </div>
  <div id="navrow2" class="tabs2">
    <ul class="tablist">
      <li><a href="../../files.html"><span>File&#160;List</span></a></li>
      <li><a href="../../globals.html"><span>File&#160;Members</span></a></li>
    </ul>
  </div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
      <div id="nav-sync" class="sync"></div>
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
$(document).ready(function(){initNavTree('db/d9f/rt__vectornav_8cpp_source.html','../../');});
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div class="header">
  <div class="headertitle">
<div class="title">rt_vectornav.cpp</div>  </div>
</div><!--header-->
<div class="contents">
<a href="../../db/d9f/rt__vectornav_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#include &lt;inttypes.h&gt;</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#include &lt;pthread.h&gt;</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#include &lt;stdio.h&gt;</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;string&gt;</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;</div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="../../d0/df2/_i_m_u_types_8h.html">SimUtilities/IMUTypes.h</a>&gt;</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &lt;lcm/lcm-cpp.hpp&gt;</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;stdexcept&gt;</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../de/df0/utilities_8h.html">Utilities/utilities.h</a>&quot;</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d3/dee/rt__vectornav_8h.html">rt/rt_vectornav.h</a>&quot;</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &quot;vectornav_lcmt.hpp&quot;</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;</div><div class="line"><a name="l00013"></a><span class="lineno"><a class="line" href="../../db/d9f/rt__vectornav_8cpp.html#a99fa94f9610dc65efb533b5a2645400c">   13</a></span>&#160;<span class="preprocessor">#define K_MINI_CHEETAH_VECTOR_NAV_SERIAL &quot;/dev/ttyS0&quot;</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">//#define PRINT_VECTORNAV_DEBUG</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="keywordtype">int</span> <a class="code" href="../../db/d9f/rt__vectornav_8cpp.html#a964686b2a2385ff7e9a6d4aeaecd3bda">processErrorReceived</a>(<span class="keyword">const</span> std::string&amp; errorMessage, VnError errorCode);</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="keywordtype">void</span> <a class="code" href="../../db/d9f/rt__vectornav_8cpp.html#a07554247ded0e3bbe9233a198447998e">vectornav_handler</a>(<span class="keywordtype">void</span>* userData, VnUartPacket* packet,</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;                       <span class="keywordtype">size_t</span> running_index);</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;</div><div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="../../d2/db8/structvn__sensor.html">   21</a></span>&#160;<span class="keyword">typedef</span> <span class="keyword">struct </span>{</div><div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="../../d2/db8/structvn__sensor.html#af91e570971829045e93dc2cbb1a97aaa">   22</a></span>&#160;  VnSensor <a class="code" href="../../d2/db8/structvn__sensor.html#af91e570971829045e93dc2cbb1a97aaa">vs</a>;</div><div class="line"><a name="l00023"></a><span class="lineno"><a class="line" href="../../d2/db8/structvn__sensor.html#aef885ffc95929f1905bd95527e998ba0">   23</a></span>&#160;  BinaryOutputRegister <a class="code" href="../../d2/db8/structvn__sensor.html#aef885ffc95929f1905bd95527e998ba0">bor</a>;</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;} <a class="code" href="../../d2/db8/structvn__sensor.html">vn_sensor</a>;</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;</div><div class="line"><a name="l00026"></a><span class="lineno"><a class="line" href="../../db/d9f/rt__vectornav_8cpp.html#a2298a53684bd01e06a674e0b449e81f3">   26</a></span>&#160;<a class="code" href="../../d2/db8/structvn__sensor.html">vn_sensor</a> <a class="code" href="../../db/d9f/rt__vectornav_8cpp.html#a2298a53684bd01e06a674e0b449e81f3">vn</a>;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;</div><div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="../../db/d9f/rt__vectornav_8cpp.html#a9fcca5e6a465641995a52cb68b5adff6">   28</a></span>&#160;<span class="keyword">static</span> lcm::LCM* <a class="code" href="../../db/d9f/rt__vectornav_8cpp.html#a9fcca5e6a465641995a52cb68b5adff6">vectornav_lcm</a>;</div><div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="../../db/d9f/rt__vectornav_8cpp.html#aa164ca8e3ce9a9bcc378704b42911f01">   29</a></span>&#160;vectornav_lcmt <a class="code" href="../../db/d9f/rt__vectornav_8cpp.html#aa164ca8e3ce9a9bcc378704b42911f01">vectornav_lcm_data</a>;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;</div><div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="../../db/d9f/rt__vectornav_8cpp.html#afbc8722d8a017bd19e0d79e30c025cb0">   31</a></span>&#160;<span class="keyword">static</span> <a class="code" href="../../df/d06/struct_vector_nav_data.html">VectorNavData</a>* <a class="code" href="../../db/d9f/rt__vectornav_8cpp.html#afbc8722d8a017bd19e0d79e30c025cb0">g_vn_data</a> = <span class="keyword">nullptr</span>;</div><div class="line"><a name="l00032"></a><span class="lineno"><a class="line" href="../../db/d9f/rt__vectornav_8cpp.html#a526a0009b92506ef044a4beb93cf4142">   32</a></span>&#160;<span class="keywordtype">bool</span> <a class="code" href="../../db/d9f/rt__vectornav_8cpp.html#a526a0009b92506ef044a4beb93cf4142">init_vectornav</a>(<a class="code" href="../../df/d06/struct_vector_nav_data.html">VectorNavData</a>* vn_data) {</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;  g_vn_data = vn_data;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;  printf(<span class="stringliteral">&quot;[Simulation] Setup LCM...\n&quot;</span>);</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;  <a class="code" href="../../db/d9f/rt__vectornav_8cpp.html#a9fcca5e6a465641995a52cb68b5adff6">vectornav_lcm</a> = <span class="keyword">new</span> lcm::LCM(<a class="code" href="../../de/df0/utilities_8h.html#aa3945f023f4c554ec5670ac03ff82525">getLcmUrl</a>(255));</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="../../db/d9f/rt__vectornav_8cpp.html#a9fcca5e6a465641995a52cb68b5adff6">vectornav_lcm</a>-&gt;good()) {</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    printf(<span class="stringliteral">&quot;[ERROR] Failed to set up LCM\n&quot;</span>);</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    <span class="keywordflow">throw</span> std::runtime_error(<span class="stringliteral">&quot;lcm bad&quot;</span>);</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;  }</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;  VnError error;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  VpeBasicControlRegister vpeReg;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;  ImuFilteringConfigurationRegister filtReg;</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">char</span> SENSOR_PORT[] = <a class="code" href="../../db/d9f/rt__vectornav_8cpp.html#a99fa94f9610dc65efb533b5a2645400c">K_MINI_CHEETAH_VECTOR_NAV_SERIAL</a>;</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  <span class="keyword">const</span> uint32_t SENSOR_BAUDRATE = 115200;</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  <span class="keywordtype">char</span> modelNumber[30];</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <span class="keywordtype">char</span> strConversions[50];</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  uint32_t newHz, oldHz;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <span class="comment">// uint32_t hz_desired = 200;</span></div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  printf(<span class="stringliteral">&quot;[rt_vectornav] init_vectornav()\n&quot;</span>);</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <span class="comment">// initialize vectornav library</span></div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  VnSensor_initialize(&amp;(vn.<a class="code" href="../../d2/db8/structvn__sensor.html#af91e570971829045e93dc2cbb1a97aaa">vs</a>));</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  <span class="comment">// connect to sensor</span></div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  <span class="keywordflow">if</span> ((error = VnSensor_connect(&amp;(vn.<a class="code" href="../../d2/db8/structvn__sensor.html#af91e570971829045e93dc2cbb1a97aaa">vs</a>), SENSOR_PORT, SENSOR_BAUDRATE)) !=</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;      E_NONE) {</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    printf(<span class="stringliteral">&quot;[rt_vectornav] VnSensor_connect failed.\n&quot;</span>);</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <a class="code" href="../../db/d9f/rt__vectornav_8cpp.html#a964686b2a2385ff7e9a6d4aeaecd3bda">processErrorReceived</a>(<span class="stringliteral">&quot;Error connecting to sensor.&quot;</span>, error);</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  }</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <span class="comment">// read the sensor&#39;s model number</span></div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <span class="keywordflow">if</span> ((error = VnSensor_readModelNumber(&amp;(vn.<a class="code" href="../../d2/db8/structvn__sensor.html#af91e570971829045e93dc2cbb1a97aaa">vs</a>), modelNumber,</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;                                        <span class="keyword">sizeof</span>(modelNumber))) != E_NONE) {</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    printf(<span class="stringliteral">&quot;[rt_vectornav] VnSensor_readModelNumber failed.\n&quot;</span>);</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <a class="code" href="../../db/d9f/rt__vectornav_8cpp.html#a964686b2a2385ff7e9a6d4aeaecd3bda">processErrorReceived</a>(<span class="stringliteral">&quot;Error reading model number.&quot;</span>, error);</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  }</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  printf(<span class="stringliteral">&quot;Model Number: %s\n&quot;</span>, modelNumber);</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  <span class="comment">// switch the sensor to 1 kHz mode</span></div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  <span class="keywordflow">if</span> ((error = VnSensor_readAsyncDataOutputFrequency(&amp;(vn.<a class="code" href="../../d2/db8/structvn__sensor.html#af91e570971829045e93dc2cbb1a97aaa">vs</a>), &amp;oldHz)) !=</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      E_NONE) {</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    printf(<span class="stringliteral">&quot;[rt_vectornav] VnSensor_readAsyncDataOutputFrequency failed.\n&quot;</span>);</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    <a class="code" href="../../db/d9f/rt__vectornav_8cpp.html#a964686b2a2385ff7e9a6d4aeaecd3bda">processErrorReceived</a>(<span class="stringliteral">&quot;Error reading async data output frequency.&quot;</span>, error);</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  }</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  <span class="comment">// non-zero frequency causes the IMU to output ascii packets at the set</span></div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  <span class="comment">// frequency, as well as binary</span></div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  <span class="keywordflow">if</span> ((error = VnSensor_writeAsyncDataOutputFrequency(&amp;(vn.<a class="code" href="../../d2/db8/structvn__sensor.html#af91e570971829045e93dc2cbb1a97aaa">vs</a>), 0, <span class="keyword">true</span>)) !=</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      E_NONE) {</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    printf(<span class="stringliteral">&quot;[rt_vectornav] VnSensor_wrtieAsyncDataOutputFrequency failed.\n&quot;</span>);</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    <a class="code" href="../../db/d9f/rt__vectornav_8cpp.html#a964686b2a2385ff7e9a6d4aeaecd3bda">processErrorReceived</a>(<span class="stringliteral">&quot;Error writing async data output frequency.&quot;</span>, error);</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  }</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  <span class="keywordflow">if</span> ((error = VnSensor_readAsyncDataOutputFrequency(&amp;(vn.<a class="code" href="../../d2/db8/structvn__sensor.html#af91e570971829045e93dc2cbb1a97aaa">vs</a>), &amp;newHz)) !=</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      E_NONE) {</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    printf(<span class="stringliteral">&quot;[rt_vectornav] VnSensor_readAsyncDataOutputFrequency failed.\n&quot;</span>);</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    <a class="code" href="../../db/d9f/rt__vectornav_8cpp.html#a964686b2a2385ff7e9a6d4aeaecd3bda">processErrorReceived</a>(<span class="stringliteral">&quot;Error reading async data output frequency.&quot;</span>, error);</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  }</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  printf(<span class="stringliteral">&quot;[rt_vectornav] Changed frequency from %d to %d Hz.\n&quot;</span>, oldHz, newHz);</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  <span class="comment">// change to relative heading mode to avoid compass weirdness</span></div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  <span class="keywordflow">if</span> ((error = VnSensor_readVpeBasicControl(&amp;(vn.<a class="code" href="../../d2/db8/structvn__sensor.html#af91e570971829045e93dc2cbb1a97aaa">vs</a>), &amp;vpeReg)) != E_NONE) {</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    printf(<span class="stringliteral">&quot;[rt_vectornav] VnSensor_ReadVpeBasicControl failed.\n&quot;</span>);</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    <a class="code" href="../../db/d9f/rt__vectornav_8cpp.html#a964686b2a2385ff7e9a6d4aeaecd3bda">processErrorReceived</a>(<span class="stringliteral">&quot;Error reading VPE basic control.&quot;</span>, error);</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  }</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  strFromHeadingMode(strConversions, (VnHeadingMode)vpeReg.headingMode);</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  printf(<span class="stringliteral">&quot;[rt_vectornav] Sensor was in mode: %s\n&quot;</span>, strConversions);</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  vpeReg.headingMode = VNHEADINGMODE_RELATIVE;</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  <span class="keywordflow">if</span> ((error = VnSensor_writeVpeBasicControl(&amp;(vn.<a class="code" href="../../d2/db8/structvn__sensor.html#af91e570971829045e93dc2cbb1a97aaa">vs</a>), vpeReg, <span class="keyword">true</span>)) !=</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;      E_NONE) {</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    printf(<span class="stringliteral">&quot;[rt_vectornav] VnSensor_writeVpeBasicControl failed.\n&quot;</span>);</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    <a class="code" href="../../db/d9f/rt__vectornav_8cpp.html#a964686b2a2385ff7e9a6d4aeaecd3bda">processErrorReceived</a>(<span class="stringliteral">&quot;Error writing VPE basic control.&quot;</span>, error);</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  }</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  <span class="keywordflow">if</span> ((error = VnSensor_readVpeBasicControl(&amp;(vn.<a class="code" href="../../d2/db8/structvn__sensor.html#af91e570971829045e93dc2cbb1a97aaa">vs</a>), &amp;vpeReg)) != E_NONE) {</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    <a class="code" href="../../db/d9f/rt__vectornav_8cpp.html#a964686b2a2385ff7e9a6d4aeaecd3bda">processErrorReceived</a>(<span class="stringliteral">&quot;Error reading VPE basic control.&quot;</span>, error);</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    printf(<span class="stringliteral">&quot;[rt_vectornav] VnSensor_ReadVpeBasicControl failed.\n&quot;</span>);</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  }</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  strFromHeadingMode(strConversions, (VnHeadingMode)vpeReg.headingMode);</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  printf(<span class="stringliteral">&quot;[rt_vectornav] Sensor now id mode: %s\n&quot;</span>, strConversions);</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  <span class="keywordflow">if</span> ((error = VnSensor_readImuFilteringConfiguration(&amp;(vn.<a class="code" href="../../d2/db8/structvn__sensor.html#af91e570971829045e93dc2cbb1a97aaa">vs</a>), &amp;filtReg)) !=</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;      E_NONE) {</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    printf(<span class="stringliteral">&quot;[rt_vectornav] VnSensor_readGyroCompensation failed.\n&quot;</span>);</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  }</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  printf(<span class="stringliteral">&quot;[rt_vectornav] AccelWindow: %d\n&quot;</span>, filtReg.accelWindowSize);</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  <span class="comment">//        filtReg.accelWindowSize = 4;    // We&#39;re sampling at 200 hz, but the</span></div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  <span class="comment">//        imu samples at 800 hz. filtReg.accelFilterMode = 3; if((error =</span></div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  <span class="comment">//        VnSensor_writeImuFilteringConfiguration(&amp;(vn.vs), filtReg, true)) !=</span></div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;  <span class="comment">//        E_NONE)</span></div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;  <span class="comment">//        {</span></div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;  <span class="comment">//            printf(&quot;[rt_vectornav] VnSensor_writeGyroCompensation</span></div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;  <span class="comment">//            failed.\n&quot;);</span></div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  <span class="comment">//        }</span></div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  <span class="comment">// setup binary output message type</span></div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  BinaryOutputRegister_initialize(</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;      &amp;(vn.<a class="code" href="../../d2/db8/structvn__sensor.html#aef885ffc95929f1905bd95527e998ba0">bor</a>), ASYNCMODE_PORT2,</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;      4,  <span class="comment">// divisor:  output frequency = 800/divisor</span></div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;      (CommonGroup)(COMMONGROUP_QUATERNION | COMMONGROUP_ANGULARRATE |</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;                    COMMONGROUP_ACCEL),</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;      TIMEGROUP_NONE, IMUGROUP_NONE, GPSGROUP_NONE, ATTITUDEGROUP_NONE,</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      INSGROUP_NONE, GPSGROUP_NONE);</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;  <span class="keywordflow">if</span> ((error = VnSensor_writeBinaryOutput1(&amp;(vn.<a class="code" href="../../d2/db8/structvn__sensor.html#af91e570971829045e93dc2cbb1a97aaa">vs</a>), &amp;(vn.<a class="code" href="../../d2/db8/structvn__sensor.html#aef885ffc95929f1905bd95527e998ba0">bor</a>), <span class="keyword">true</span>)) !=</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      E_NONE) {</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    printf(<span class="stringliteral">&quot;[rt_vectornav] VnSensor_writeBinaryOutput1 failed.\n&quot;</span>);</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    <a class="code" href="../../db/d9f/rt__vectornav_8cpp.html#a964686b2a2385ff7e9a6d4aeaecd3bda">processErrorReceived</a>(<span class="stringliteral">&quot;Error writing binary output 1.&quot;</span>, error);</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;  }</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;</div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;  <span class="comment">// setup handler</span></div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;  VnSensor_registerAsyncPacketReceivedHandler(&amp;(vn.<a class="code" href="../../d2/db8/structvn__sensor.html#af91e570971829045e93dc2cbb1a97aaa">vs</a>), <a class="code" href="../../db/d9f/rt__vectornav_8cpp.html#a07554247ded0e3bbe9233a198447998e">vectornav_handler</a>,</div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;                                              NULL);</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  printf(<span class="stringliteral">&quot;[rt_vectornav] IMU is set up!\n&quot;</span>);</div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;}</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;</div><div class="line"><a name="l00157"></a><span class="lineno"><a class="line" href="../../db/d9f/rt__vectornav_8cpp.html#ac53f38d3a383ecfd185c16fef5d98bd8">  157</a></span>&#160;<span class="keywordtype">int</span> <a class="code" href="../../db/d9f/rt__vectornav_8cpp.html#ac53f38d3a383ecfd185c16fef5d98bd8">got_first_vectornav_message</a> = 0;</div><div class="line"><a name="l00158"></a><span class="lineno"><a class="line" href="../../db/d9f/rt__vectornav_8cpp.html#a07554247ded0e3bbe9233a198447998e">  158</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="../../db/d9f/rt__vectornav_8cpp.html#a07554247ded0e3bbe9233a198447998e">vectornav_handler</a>(<span class="keywordtype">void</span>* userData, VnUartPacket* packet,</div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;                       <span class="keywordtype">size_t</span> running_index) {</div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;  (void)userData;</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;  (void)running_index;</div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;  vec4f quat;</div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;  vec3f omega;</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;  vec3f a;</div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;  <span class="keywordflow">if</span> (VnUartPacket_type(packet) != PACKETTYPE_BINARY) {</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    printf(<span class="stringliteral">&quot;[vectornav_handler] got a packet that wasn&#39;t binary.\n&quot;</span>);</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    <span class="keywordflow">return</span>;</div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;  }</div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;</div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;  <span class="keywordflow">if</span> (!VnUartPacket_isCompatible(</div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;          packet,</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;          (CommonGroup)(COMMONGROUP_QUATERNION | COMMONGROUP_ANGULARRATE |</div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;                        COMMONGROUP_ACCEL),</div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;          TIMEGROUP_NONE, IMUGROUP_NONE, GPSGROUP_NONE, ATTITUDEGROUP_NONE,</div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;          INSGROUP_NONE, GPSGROUP_NONE)) {</div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    printf(<span class="stringliteral">&quot;[vectornav_handler] got a packet with the wrong type of data.\n&quot;</span>);</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;    <span class="keywordflow">return</span>;</div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;  }</div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;</div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;  quat = VnUartPacket_extractVec4f(packet);</div><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  omega = VnUartPacket_extractVec3f(packet);</div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;  a = VnUartPacket_extractVec3f(packet);</div><div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;</div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; 4; i++) {</div><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    <a class="code" href="../../db/d9f/rt__vectornav_8cpp.html#aa164ca8e3ce9a9bcc378704b42911f01">vectornav_lcm_data</a>.q[i] = quat.c[i];</div><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    g_vn_data-&gt;<a class="code" href="../../df/d06/struct_vector_nav_data.html#a373f86342f6a3c2b2b2ca995eb67ff58">quat</a>[i] = quat.c[i];</div><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;  }</div><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;</div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; 3; i++) {</div><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;    <a class="code" href="../../db/d9f/rt__vectornav_8cpp.html#aa164ca8e3ce9a9bcc378704b42911f01">vectornav_lcm_data</a>.w[i] = omega.c[i];</div><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;    <a class="code" href="../../db/d9f/rt__vectornav_8cpp.html#aa164ca8e3ce9a9bcc378704b42911f01">vectornav_lcm_data</a>.a[i] = a.c[i];</div><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;    g_vn_data-&gt;<a class="code" href="../../df/d06/struct_vector_nav_data.html#a885e0daffb04f4fd914bc48741b8639d">gyro</a>[i] = omega.c[i];</div><div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;    g_vn_data-&gt;<a class="code" href="../../df/d06/struct_vector_nav_data.html#a2b54c7ce2b17cd19834988156da06f21">accelerometer</a>[i] = a.c[i];</div><div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;  }</div><div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;</div><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;  <a class="code" href="../../db/d9f/rt__vectornav_8cpp.html#a9fcca5e6a465641995a52cb68b5adff6">vectornav_lcm</a>-&gt;publish(<span class="stringliteral">&quot;hw_vectornav&quot;</span>, &amp;<a class="code" href="../../db/d9f/rt__vectornav_8cpp.html#aa164ca8e3ce9a9bcc378704b42911f01">vectornav_lcm_data</a>);</div><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;</div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;<span class="preprocessor">#ifdef PRINT_VECTORNAV_DEBUG</span></div><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;  <span class="keywordtype">char</span> strConversions[50];</div><div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;  str_vec4f(strConversions, quat);</div><div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;  printf(<span class="stringliteral">&quot;[QUAT] %s\n&quot;</span>, strConversions);</div><div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;</div><div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;  str_vec3f(strConversions, omega);</div><div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;  printf(<span class="stringliteral">&quot;[OMEGA] %s\n&quot;</span>, strConversions);</div><div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;</div><div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;  str_vec3f(strConversions, a);</div><div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;  printf(<span class="stringliteral">&quot;[ACC] %s\n&quot;</span>, strConversions);</div><div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;}</div><div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;</div><div class="line"><a name="l00212"></a><span class="lineno"><a class="line" href="../../db/d9f/rt__vectornav_8cpp.html#a964686b2a2385ff7e9a6d4aeaecd3bda">  212</a></span>&#160;<span class="keywordtype">int</span> <a class="code" href="../../db/d9f/rt__vectornav_8cpp.html#a964686b2a2385ff7e9a6d4aeaecd3bda">processErrorReceived</a>(<span class="keyword">const</span> std::string&amp; errorMessage, VnError errorCode) {</div><div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;  <span class="keywordtype">char</span> errorCodeStr[100];</div><div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;  strFromVnError(errorCodeStr, errorCode);</div><div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;  printf(<span class="stringliteral">&quot;%s\nVECTORNAV ERROR: %s\n&quot;</span>, errorMessage.c_str(), errorCodeStr);</div><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;  <span class="keywordflow">return</span> -1;</div><div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;}</div><div class="ttc" id="rt__vectornav_8cpp_html_a964686b2a2385ff7e9a6d4aeaecd3bda"><div class="ttname"><a href="../../db/d9f/rt__vectornav_8cpp.html#a964686b2a2385ff7e9a6d4aeaecd3bda">processErrorReceived</a></div><div class="ttdeci">int processErrorReceived(const std::string &amp;errorMessage, VnError errorCode)</div><div class="ttdef"><b>Definition:</b> <a href="../../db/d9f/rt__vectornav_8cpp_source.html#l00212">rt_vectornav.cpp:212</a></div></div>
<div class="ttc" id="utilities_8h_html"><div class="ttname"><a href="../../de/df0/utilities_8h.html">utilities.h</a></div></div>
<div class="ttc" id="rt__vectornav_8cpp_html_a99fa94f9610dc65efb533b5a2645400c"><div class="ttname"><a href="../../db/d9f/rt__vectornav_8cpp.html#a99fa94f9610dc65efb533b5a2645400c">K_MINI_CHEETAH_VECTOR_NAV_SERIAL</a></div><div class="ttdeci">#define K_MINI_CHEETAH_VECTOR_NAV_SERIAL</div><div class="ttdef"><b>Definition:</b> <a href="../../db/d9f/rt__vectornav_8cpp_source.html#l00013">rt_vectornav.cpp:13</a></div></div>
<div class="ttc" id="structvn__sensor_html_af91e570971829045e93dc2cbb1a97aaa"><div class="ttname"><a href="../../d2/db8/structvn__sensor.html#af91e570971829045e93dc2cbb1a97aaa">vn_sensor::vs</a></div><div class="ttdeci">VnSensor vs</div><div class="ttdef"><b>Definition:</b> <a href="../../db/d9f/rt__vectornav_8cpp_source.html#l00022">rt_vectornav.cpp:22</a></div></div>
<div class="ttc" id="rt__vectornav_8h_html"><div class="ttname"><a href="../../d3/dee/rt__vectornav_8h.html">rt_vectornav.h</a></div></div>
<div class="ttc" id="rt__vectornav_8cpp_html_afbc8722d8a017bd19e0d79e30c025cb0"><div class="ttname"><a href="../../db/d9f/rt__vectornav_8cpp.html#afbc8722d8a017bd19e0d79e30c025cb0">g_vn_data</a></div><div class="ttdeci">static VectorNavData * g_vn_data</div><div class="ttdef"><b>Definition:</b> <a href="../../db/d9f/rt__vectornav_8cpp_source.html#l00031">rt_vectornav.cpp:31</a></div></div>
<div class="ttc" id="utilities_8h_html_aa3945f023f4c554ec5670ac03ff82525"><div class="ttname"><a href="../../de/df0/utilities_8h.html#aa3945f023f4c554ec5670ac03ff82525">getLcmUrl</a></div><div class="ttdeci">std::string getLcmUrl(s64 ttl)</div><div class="ttdef"><b>Definition:</b> <a href="../../de/da5/utilities_8cpp_source.html#l00032">utilities.cpp:32</a></div></div>
<div class="ttc" id="struct_vector_nav_data_html"><div class="ttname"><a href="../../df/d06/struct_vector_nav_data.html">VectorNavData</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d0/df2/_i_m_u_types_8h_source.html#l00013">IMUTypes.h:13</a></div></div>
<div class="ttc" id="struct_vector_nav_data_html_a2b54c7ce2b17cd19834988156da06f21"><div class="ttname"><a href="../../df/d06/struct_vector_nav_data.html#a2b54c7ce2b17cd19834988156da06f21">VectorNavData::accelerometer</a></div><div class="ttdeci">Vec3&lt; float &gt; accelerometer</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/df2/_i_m_u_types_8h_source.html#l00014">IMUTypes.h:14</a></div></div>
<div class="ttc" id="rt__vectornav_8cpp_html_a2298a53684bd01e06a674e0b449e81f3"><div class="ttname"><a href="../../db/d9f/rt__vectornav_8cpp.html#a2298a53684bd01e06a674e0b449e81f3">vn</a></div><div class="ttdeci">vn_sensor vn</div><div class="ttdef"><b>Definition:</b> <a href="../../db/d9f/rt__vectornav_8cpp_source.html#l00026">rt_vectornav.cpp:26</a></div></div>
<div class="ttc" id="structvn__sensor_html"><div class="ttname"><a href="../../d2/db8/structvn__sensor.html">vn_sensor</a></div><div class="ttdef"><b>Definition:</b> <a href="../../db/d9f/rt__vectornav_8cpp_source.html#l00021">rt_vectornav.cpp:21</a></div></div>
<div class="ttc" id="rt__vectornav_8cpp_html_a526a0009b92506ef044a4beb93cf4142"><div class="ttname"><a href="../../db/d9f/rt__vectornav_8cpp.html#a526a0009b92506ef044a4beb93cf4142">init_vectornav</a></div><div class="ttdeci">bool init_vectornav(VectorNavData *vn_data)</div><div class="ttdef"><b>Definition:</b> <a href="../../db/d9f/rt__vectornav_8cpp_source.html#l00032">rt_vectornav.cpp:32</a></div></div>
<div class="ttc" id="rt__vectornav_8cpp_html_aa164ca8e3ce9a9bcc378704b42911f01"><div class="ttname"><a href="../../db/d9f/rt__vectornav_8cpp.html#aa164ca8e3ce9a9bcc378704b42911f01">vectornav_lcm_data</a></div><div class="ttdeci">vectornav_lcmt vectornav_lcm_data</div><div class="ttdef"><b>Definition:</b> <a href="../../db/d9f/rt__vectornav_8cpp_source.html#l00029">rt_vectornav.cpp:29</a></div></div>
<div class="ttc" id="struct_vector_nav_data_html_a373f86342f6a3c2b2b2ca995eb67ff58"><div class="ttname"><a href="../../df/d06/struct_vector_nav_data.html#a373f86342f6a3c2b2b2ca995eb67ff58">VectorNavData::quat</a></div><div class="ttdeci">Quat&lt; float &gt; quat</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/df2/_i_m_u_types_8h_source.html#l00016">IMUTypes.h:16</a></div></div>
<div class="ttc" id="rt__vectornav_8cpp_html_a07554247ded0e3bbe9233a198447998e"><div class="ttname"><a href="../../db/d9f/rt__vectornav_8cpp.html#a07554247ded0e3bbe9233a198447998e">vectornav_handler</a></div><div class="ttdeci">void vectornav_handler(void *userData, VnUartPacket *packet, size_t running_index)</div><div class="ttdef"><b>Definition:</b> <a href="../../db/d9f/rt__vectornav_8cpp_source.html#l00158">rt_vectornav.cpp:158</a></div></div>
<div class="ttc" id="rt__vectornav_8cpp_html_a9fcca5e6a465641995a52cb68b5adff6"><div class="ttname"><a href="../../db/d9f/rt__vectornav_8cpp.html#a9fcca5e6a465641995a52cb68b5adff6">vectornav_lcm</a></div><div class="ttdeci">static lcm::LCM * vectornav_lcm</div><div class="ttdef"><b>Definition:</b> <a href="../../db/d9f/rt__vectornav_8cpp_source.html#l00028">rt_vectornav.cpp:28</a></div></div>
<div class="ttc" id="_i_m_u_types_8h_html"><div class="ttname"><a href="../../d0/df2/_i_m_u_types_8h.html">IMUTypes.h</a></div><div class="ttdoc">Data from IMUs. </div></div>
<div class="ttc" id="struct_vector_nav_data_html_a885e0daffb04f4fd914bc48741b8639d"><div class="ttname"><a href="../../df/d06/struct_vector_nav_data.html#a885e0daffb04f4fd914bc48741b8639d">VectorNavData::gyro</a></div><div class="ttdeci">Vec3&lt; float &gt; gyro</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/df2/_i_m_u_types_8h_source.html#l00015">IMUTypes.h:15</a></div></div>
<div class="ttc" id="structvn__sensor_html_aef885ffc95929f1905bd95527e998ba0"><div class="ttname"><a href="../../d2/db8/structvn__sensor.html#aef885ffc95929f1905bd95527e998ba0">vn_sensor::bor</a></div><div class="ttdeci">BinaryOutputRegister bor</div><div class="ttdef"><b>Definition:</b> <a href="../../db/d9f/rt__vectornav_8cpp_source.html#l00023">rt_vectornav.cpp:23</a></div></div>
<div class="ttc" id="rt__vectornav_8cpp_html_ac53f38d3a383ecfd185c16fef5d98bd8"><div class="ttname"><a href="../../db/d9f/rt__vectornav_8cpp.html#ac53f38d3a383ecfd185c16fef5d98bd8">got_first_vectornav_message</a></div><div class="ttdeci">int got_first_vectornav_message</div><div class="ttdef"><b>Definition:</b> <a href="../../db/d9f/rt__vectornav_8cpp_source.html#l00157">rt_vectornav.cpp:157</a></div></div>
</div><!-- fragment --></div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    <li class="navelem"><a class="el" href="../../dir_43e0a1f539e00dcfa1a6bc4d4fee4fc2.html">home</a></li><li class="navelem"><a class="el" href="../../dir_61bfb0b3cdda81b1b0355ba34eb3b1eb.html">dhkim</a></li><li class="navelem"><a class="el" href="../../dir_adee5b101e079090017bb4e91c628ead.html">Public_Repository</a></li><li class="navelem"><a class="el" href="../../dir_7fc07a7b97001e7b1d18e11da761e2de.html">Cheetah-Software</a></li><li class="navelem"><a class="el" href="../../dir_e69772fee2c25f3f3a3da98250dcdda2.html">robot</a></li><li class="navelem"><a class="el" href="../../dir_027de6e2baa5cad9e7e386445d8c74b0.html">src</a></li><li class="navelem"><a class="el" href="../../dir_f363271a5de137f1ed2fb1e5aa05c8fe.html">rt</a></li><li class="navelem"><a class="el" href="../../db/d9f/rt__vectornav_8cpp.html">rt_vectornav.cpp</a></li>
    <li class="footer">Generated by
    <a href="http://www.doxygen.org/index.html">
    <img class="footer" src="../../doxygen.png" alt="doxygen"/></a> 1.8.11 </li>
  </ul>
</div>
</body>
</html>
